Stepping anchor supporting robot for fully mechanized working face

ABSTRACT

The present invention discloses an anchor supporting intelligent device, belonging to the field of electromechanical devices for fully mechanized working faces. The device includes four parts of net supporting systems, anchoring systems, ground supporting systems and power and turning systems. The net supporting system is installed above the ground supporting system. The anchoring system is installed below a main beam and a middle main beam in the net supporting system through screws. The ground supporting system is installed below the main beam and the middle main beam in the net supporting system to provide support for the whole device. Two ends of the power and turning system are respectively connected with the main beam and the middle main beam in the net supporting system in a mode of pin connection. Further, the device disclosed by the present invention is small in volume and compact in structure, has functions of cooperative operation of multiple anchor rods and auxiliary paving of anchor nets, and is high in anchoring efficiency. Moreover, the device adopts a stepping moving mode, so that the device is smooth in operation, flexible in turning and good in maneuverability.

BACKGROUND Technical Field

The present invention relates to the field of electromechanical devicesfor fully mechanized working faces, and specifically relates to astepping anchor supporting robot for a fully mechanized working face,belonging to the scope of anchor supporting intelligent devices.

Related Art

In recent years, fully-mechanized excavating, anchoring and supportingdevices have developed rapidly, there are many products, and theoperating efficiency has been greatly improved than before. However,such devices generally have the problem of limited application range dueto a large volume of the device. Furthermore, most of devices adoptwheel type or crawler type moving solutions. Tires or crawlers workingfor a long time under relatively harsh environments of coal mineroadways are easy to damage and difficult to repair. The weight of thecomplete set of device is increased due to huge moving power components,so that there is a defect of subsidence during operating in soft rockroadways. In addition, when an existing excavating, anchoring andsupporting device performs an anchoring operation on a roadway, thepaving of an anchor net mostly adopts manual operation, so that theworking efficiency is not high, and there is a danger of being hit byscattered rocks on a roof.

At present, some products integrate an excavating machine and an anchorsupporting device together, and the traditional crawler type travellingmode is abandoned. The most typical solutions are disclosed in thepublication patent numbers CN201610119970.2, CN201610119982.5,CN201810959282.6 and CN201810959588.1, in which stepping cooperation isrealized by enabling an excavating supporting part and an anchoringsupporting part to alternately move forward. The problem that themachine body falls into the roadway floor due to an excessive groundingratio is solved by increasing the contact area between the machine bodyand the roadway floor, so that the device is suitable for soft and hardcomplicated roadways. Moreover, a stability increasing and vibrationreducing structural part is disposed between the excavating supportingpart and the anchoring supporting part, so that the connection betweenthe excavating supporting part and the anchoring supporting part istighter, the overall structural stability is higher, the vibratorymagnitude of a stepping excavating, supporting and anchoring integratedmachine set in the process of cutting coals and rocks is improved, andthe excavating efficiency and the safety are further increased. Althoughsuch solutions solve the common problems of the wheel type or crawlertype excavating, anchoring and supporting device, the device has higherrequirements for the roadway floor and the moving process is notflexible enough, which is specifically as follows:

1) The device has higher requirements for the flatness of the roadwayfloor.

In the solutions mentioned in the above patents, when an excavatingcomponent is supported, an anchoring component moves back and forth, andwhen the anchoring component is supported, the excavating componentmoves back and forth. The processes are repeated alternately to realizethe movement of the complete set of device. However, there is a largefriction resistance between the moving component and the roadway floor,and obviously, the more uneven the roadway floor, the larger thefriction resistance. Therefore, the use of the device has strictrequirements for the gradient and flatness of the roadway, and thedevice is not suitable for roadways with relatively harsh environments.

2) The device is poor in turning performance and not flexible in movingprocess.

In the solutions mentioned in the above patents, the creeping movementof the device is realized by means of the alternating movement of theexcavating supporting part and the anchoring supporting part. However,due to the larger volume of the excavating component and the anchoringdevice, the magnitude of turning of the complete set of device is verylimited, a larger roadway space is required, and the moving process isvery slow, which affects the excavating and anchoring speed of thecomplete set of device.

3) The degree of automation of the anchoring process is not high.

In the above patents, the paving of an anchor net on the roadway roof inthe anchoring operation requires manual operation by workers, theworking environment is harsh in this process, the manual operation haslarge labor intensity and low working efficiency and seriously affectsthe speed of the anchoring operation, and the workers are at risk ofbeing hit by scattered rocks on the roadway roof.

SUMMARY

The present invention provides a stepping anchor supporting robot for afully mechanized working face. The robot is small in volume, flexible inmovement and strong in adaptability, and provides solutions for theabove background art.

The technical problems to be solved by the present invention areimplemented by the following technical solutions:

A stepping anchor supporting robot for a fully mechanized working faceincludes net supporting systems, anchoring systems, ground supportingsystems and power and turning systems. The net supporting system isinstalled above the ground supporting system. The anchoring system isinstalled below a main beam and a middle main beam in the net supportingsystem through screws. The ground supporting system is installed belowthe main beam and the middle main beam in the net supporting system. Twoends of the power and turning system are respectively connected with themain beam and the middle main beam in the net supporting system in amode of pin connection.

The net supporting system includes a main net supporting system, anauxiliary net supporting system, the main beam and the middle main beam.The main net supporting system is installed above the main beam in thenet supporting system. The auxiliary net supporting system is installedabove the middle main beam in the net supporting system. The main netsupporting system includes a middle net supporting mechanism and a sidenet supporting mechanism, and the auxiliary net supporting system onlyincludes a middle net supporting mechanism. The middle net supportingmechanism includes a middle bracket, a middle bracket connecting rod, aspring, a middle net supporting hydraulic cylinder and a net supportingbaffle plate. The side net supporting mechanism includes a side bracket,a side net supporting hydraulic cylinder and a net supporting baffleplate.

The anchoring system includes an anchor rod, an anchor rod storagedevice, an anchor rod drill device, a ground supporting hydrauliccylinder, a base, a rotating power device and a connecting column. Theanchor rod storage device is installed on a transmission shaft in therotating power device in a mode of interference fit through a rodchanging supporting seat thereof. The anchor rod storage device includesa storage rack rotating motor, an anchor rod storage rack, a shaft andthe rod changing supporting seat. The anchor rod drill device includesan anchor rod drill guide rail, an anchor rod drill, a chain, a pushingmotor, an adjusting hydraulic cylinder and a slide rail connectingplate. The rotating power device includes a bearing, a transmissionshaft, a large gear, a pinion, a motor, a baffle plate and a platformbox.

The ground supporting system includes a ground supporting hydrauliccylinder and a ground self-adaptive supporting base mechanism. Theground supporting hydraulic cylinder is installed below the main beamand the middle main beam in the net supporting system. The groundself-adaptive supporting base mechanism includes base hydrauliccylinders and a base tray. One end of the base hydraulic cylinder isconnected with the ground supporting hydraulic cylinder through a pin,and the other end of the base hydraulic cylinder is connected with thebase tray through a pin.

The power and turning system includes a pushing hydraulic cylinder, aturning hydraulic cylinder A, a turning hydraulic cylinder B, a pushinghydraulic cylinder big sleeve and a pushing hydraulic cylinder smallsleeve. One end of the pushing hydraulic cylinder is connected with thepushing hydraulic cylinder small sleeve through a pin, and the other endof the pushing hydraulic cylinder is connected with the pushinghydraulic cylinder big sleeve through a pin. One ends of the turninghydraulic cylinder A and the turning hydraulic cylinder B are connectedwith the pushing hydraulic cylinder big sleeve through pins, and theother ends of the turning hydraulic cylinder A and the turning hydrauliccylinder B are connected with the middle main beam in the net supportingsystem through pins. The pushing hydraulic cylinder big sleeve isconnected with the middle main beam in the net supporting system througha pin. The pushing hydraulic cylinder small sleeve is connected with themain beam in the net supporting system through a pin.

A moving process of a stepping anchor supporting robot for a fullymechanized working face is characterized by including the followingsteps:

S1: dividing the whole device into three sections, namely a frontsection, a middle section and a rear section; the device is providedwith six groups of ground supporting systems and four groups of powerand turning systems, and the ground supporting systems and the power andturning systems are symmetrically distributed at two sides of thedevice; each group of the ground supporting systems includes a groundsupporting hydraulic cylinder; each group of the power and turningsystems includes a pushing hydraulic cylinder, a turning hydrauliccylinder A and a turning hydraulic cylinder B; the moving processes ofthe systems at both sides are synchronized, and the moving process atone side is described;

S2: when the device is in an initial state, the six groups of the groundsupporting systems are supported on the ground; during operation,enabling the ground supporting hydraulic cylinder on the front sectionof the device to shrink, the pushing hydraulic cylinder on the fronthalf of the device to extend for a certain distance and then stopmoving, and the ground supporting hydraulic cylinder on the frontsection of the device to extend and be supported on the roadway ground;at this time, the front section of the device is pushed forward for acertain distance;

S3: enabling the ground supporting hydraulic cylinder on the middlesection of the device to shrink, the pushing hydraulic cylinder on thefront half of the device to shrink, the pushing hydraulic cylinder onthe rear half of the device to extend, the front and rear pushinghydraulic cylinders to synchronously move for a certain distance andthen stop moving, and the ground supporting hydraulic cylinder on themiddle section of the device to extend and be supported on the roadwayground; at this time, the middle section of the device is pushed forwardfor a certain distance; and

S4: enabling the ground supporting hydraulic cylinder on the rearsection of the device to shrink, the pushing hydraulic cylinder on therear half of the device to shrink for a certain distance and then stopmoving, and the ground supporting hydraulic cylinder on the rear sectionof the device to extend and be supported on the roadway ground; at thistime, the rear section of the device is pushed forward for a certaindistance; thus, making the whole device move forward for a certaindistance, and repeating the above steps to enable the complete set ofdevice to continuously move.

A turning process of a stepping anchor supporting robot for a fullymechanized working face is characterized by including the followingsteps:

S1: enabling the ground supporting hydraulic cylinder on the frontsection of the device to shrink, at this time, enabling the pushinghydraulic cylinder at the right side of the front half of the device toextend and the pushing hydraulic cylinder at the left side to shrink,and realizing the turning process of the front section of the deviceunder an adjusting effect of the turning hydraulic cylinder A and theturning hydraulic cylinder B; and

S2: enabling the ground supporting hydraulic cylinder on the rearsection of the device to shrink, at this time, enabling the pushinghydraulic cylinder at the left side of the rear half of the device toextends and the pushing hydraulic cylinder at the right side to shrink,and realizing the turning process of the rear section of the deviceunder the adjusting effect of the turning hydraulic cylinder A and theturning hydraulic cylinder B; thus, completing one turning action of thewhole device, and repeating the above steps to realize continuousturning of the whole device in the roadway with a large curvature.

An anchoring operation process of a stepping anchor supporting robot fora fully mechanized working face is characterized by including thefollowing steps:

S1: enabling the ground supporting hydraulic cylinder installed below aplatform box to extend and act on a roadway floor;

S2: driving an anchor rod storage rack by a storage rack rotating motorto rotate to a position suitable for manually taking an anchor rod, andthen, manually taking down the anchor rod and installing the anchor rodon an anchor rod drill;

S3: manually paving an anchor net on a net supporting baffle plate ofthe whole device, and driving the anchor net to closely adhere to a wallsurface of the roadway by a middle net supporting hydraulic cylinder anda side net supporting hydraulic cylinder in a net supporting system; and

S4: after adjusting the position of an anchor rod drill device through arotating power device and an adjusting hydraulic cylinder, enabling theanchor rod drill device to pass through the anchor net to drill the wallsurface of the roadway, thereby completing the anchoring action.

Compared with an existing excavating, anchoring and supportingintegrated machine, the present invention has the following beneficialeffects:

1) The robot disclosed by the present invention has a simple bodystructure, can move smoothly, and has strong operation adaptability.

When the robot disclosed by the present invention moves, groundsupporting hydraulic cylinder groups sequentially shrink and leave theroadway floor, and the stepping action is realized by means of internalpushing hydraulic cylinders. The moving process has smaller frictionresistance, and the extension and shrinkage magnitudes of the hydrauliccylinders in the ground supporting hydraulic cylinder groups can beautomatically adjusted according to the unevenness of the roadway floor,thereby ensuring the stability of the complete set of device. Due to asmaller volume, the whole device of the present invention is suitablefor a coal mine roadway with a small space volume and a relatively harshenvironment. Furthermore, main components of the device have ashrinkable function, so that the posture of the device can be adjustedin time according to actual working conditions of the roadway, so as torealize the high-efficiency operation.

2) The robot disclosed by the present invention is flexible in turningand good in maneuverability.

When the robot disclosed by the present invention turns, the turninghydraulic cylinder A and the turning hydraulic cylinder B installed onthe body synergistically push the main beam in the net supporting systemand the ground supporting hydraulic cylinder groups in the groundsupporting system to move, therefore, the pushing quantity differencebetween the two turning hydraulic cylinders in the device can beadjusted according to actual working conditions of the roadway, so as torealize turning of different magnitudes. Furthermore, the presentinvention adopts a modular structure design, and all modules have ashorter length and are allowed to swing at a certain angle relative toeach other, so that the structure greatly increases the turningflexibility of the robot disclosed by the present invention.

3) The robot disclosed by the present invention has high anchoringefficiency due to auxiliary paving of an anchor net device andcooperative operation of multiple anchor rod drills.

In the present invention, all anchor rod drills have high flexibilityand large operating area and can cooperate with each other, so as toincrease the anchoring speed. Moreover, before the anchoring operation,an anchor net is installed on the net supporting system in the presentinvention, so as to protect the safe movement of the device. During theanchoring operation, the middle net supporting hydraulic cylinder andthe side net supporting hydraulic cylinder in the net supporting systemdrive the anchor net to closely adhere to the wall surface of theroadway, so as to provide good operating conditions for the anchor roddrill. The process replaces the traditional manual operation, whichobviously can effectively improve the anchoring efficiency.

BRIEF DESCRIPTION OF THE DRAWINGS

FIG. 1 is a schematic diagram of an overall structure of the presentinvention.

FIG. 2 is a top view of the overall structure of the present invention.

FIG. 3 is a schematic diagram of a main beam of the present invention.

FIG. 4 is a schematic diagram of a middle main beam of the presentinvention.

FIG. 5 is a schematic diagram of structures of front and rear parts ofthe present invention.

FIG. 6 is a schematic diagram of a main net supporting system of thepresent invention.

FIG. 7 is a schematic diagram of an anchoring system of the presentinvention.

FIG. 8 is a schematic diagram of an anchor rod storage device of thepresent invention.

FIG. 9 is a schematic diagram of an anchor rod drill device of thepresent invention.

FIG. 10 is a schematic diagram of a slide rail connecting plate of thepresent invention.

FIG. 11 is a schematic diagram of a rotating power device of the presentinvention.

FIG. 12 is a schematic diagram of a platform box of the presentinvention.

FIG. 13 is a schematic diagram of a ground self-adaptive supporting baseof the present invention.

FIG. 14 is a schematic diagram of a power and turning system of thepresent invention.

FIG. 15 is a schematic diagram of a pushing hydraulic cylinder bigsleeve of the present invention.

FIG. 16 is a schematic diagram of a pushing hydraulic cylinder smallsleeve of the present invention.

Numbers in figures represent: 1. net supporting system; 2. anchoringsystem; 3. ground supporting system; 4. power and turning system; 1-1.main net supporting system; 1-2. auxiliary net supporting system; 1-3.main beam; 1-4. middle main beam; 1-1-1. middle net supportingmechanism; 1-1-2. side net supporting mechanism; 1-1-1-1. middlebracket; 1-1-1-2. spring; 1-1-1-3. middle net supporting hydrauliccylinder; 1-1-1-4. middle bracket connecting rod; 1-1-2-1. netsupporting baffle plate; 1-1-2-2. side bracket; 1-1-2-3. side netsupporting hydraulic cylinder; 2-1. anchor rod; 2-2. anchor rod storagedevice; 2-3. anchor rod drill device; 2-4. ground supporting hydrauliccylinder; 2-5. base; 2-6. rotating power device; 2-7. connecting column;2-2-1. storage rack rotating motor; 2-2-2. anchor rod storage rack;2-2-3. shaft; 2-2-4. rod changing supporting seat; 2-3-1. anchor roddrill guide rail; 2-3-2. anchor rod drill; 2-3-3. chain; 2-3-4. pushingmotor; 2-3-5. adjusting hydraulic cylinder; 2-3-6. slide rail connectingplate; 2-6-1. bearing; 2-6-2. transmission shaft; 2-6-3. large gear;2-6-4. pinion; 2-6-5. motor; 2-6-6. baffle plate; 2-6-7. platform box;3-1. ground supporting hydraulic cylinder; 3-2. ground self-adaptivesupporting base mechanism; 3-2-1. base hydraulic cylinder; 3-2-2. basetray; 4-1. pushing hydraulic cylinder; 4-2. turning hydraulic cylinderA; 4-3. turning hydraulic cylinder B; 4-4. pushing hydraulic cylinderbig sleeve; 4-5. pushing hydraulic cylinder small sleeve.

DETAILED DESCRIPTION

In order to make it easy to understand the technical means, creationfeatures, achieved purpose and effectiveness of the present invention,the following is a further detailed description of the present inventionwith reference to the attached drawings and the specific implementation.It should be understood that the specific embodiments described hereinare merely used to explain the present disclosure but are not intendedto limit the present disclosure.

Referring to FIG. 1, a stepping anchor supporting robot for a fullymechanized working face includes net supporting systems 1, anchoringsystems 2, ground supporting systems 3 and power and turning systems 4.The net supporting system 1 is installed above the ground supportingsystem 3. The anchoring system 2 is installed below a main beam 1-3 anda middle main beam 1-4 in the net supporting system 1 through screws.The ground supporting system 3 is installed below the main beam 1-3 andthe middle main beam 1-4 in the net supporting system 1. Two ends of thepower and turning system 4 are respectively connected with the main beam1-3 and the middle main beam 1-4 in the net supporting system 1 in amode of pin connection. The stepping anchor supporting robot for thefully mechanized working face has the characteristics that a groundself-adaptive supporting base mechanism 3-2 of the device can adapt torocks with different hardness and uneven ground, and thereby ensuringthe stability of the device during moving and anchoring operations. Thedevice is further provided with six groups of anchoring systems 2 whichcan perform the anchoring operation at the same time, and therebygreatly improving the efficiency of the anchoring operation.

Referring to FIG. 2, FIG. 3, FIG. 4, FIG. 5 and FIG. 6, the netsupporting system 1 includes a main net supporting system 1-1, anauxiliary net supporting system 1-2, the main beam 1-3 and the middlemain beam 1-4. The main net supporting system 1-1 is installed above themain beam 1-3 in the net supporting system 1. The auxiliary netsupporting system 1-2 is installed above the middle main beam 1-4 in thenet supporting system 1. The main net supporting system 1-1 includes amiddle net supporting mechanism 1-1-1 and a side net supportingmechanism 1-1-2, and the auxiliary net supporting system 1-2 onlyincludes a middle net supporting mechanism 1-1-1. The middle netsupporting mechanism 1-1-1 includes a middle bracket 1-1-1-1, a middlebracket connecting rod 1-1-1-4, a spring 1-1-1-2, a middle netsupporting hydraulic cylinder 1-1-1-3 and a net supporting baffle plate1-1-2-1. The net supporting baffle plate 1-1-2-1 is installed above themiddle bracket 1-1-1-1 through bolts. One end of the spring 1-1-1-2 isconnected with the middle bracket 1-1-1-1, and the other end of thespring 1-1-1-2 is connected with the middle bracket connecting rod1-1-1-4. One end of the middle net supporting hydraulic cylinder 1-1-1-3in the main net supporting system 1-1 is connected with the main beam1-3, and the other end of the middle net supporting hydraulic cylinder1-1-1-3 is connected with the middle bracket 1-1-1-1. One end of themiddle net supporting hydraulic cylinder 1-1-1-3 in the auxiliary netsupporting system 1-2 is connected with the middle main beam 1-4, andthe other end of the middle net supporting hydraulic cylinder 1-1-1-3 isconnected with the middle bracket 1-1-1-1. The side net supportingmechanism 1-1-2 includes a side bracket 1-1-2-2, a side net supportinghydraulic cylinder 1-1-2-3 and a net supporting baffle plate 1-1-2-1.The net supporting baffle plate 1-1-2-1 is installed on the side bracket1-1-2-2 through bolts. One end of the side net supporting hydrauliccylinder 1-1-2-3 is connected with the main beam 1-3, and the other endof the side net supporting hydraulic cylinder 1-1-2-3 is connected withthe side bracket 1-1-2-2. The net supporting system 1 has thecharacteristic that the area of a supported anchor net is larger, andthereby providing favorable conditions for the anchoring operation.

Referring to FIG. 7, FIG. 8, FIG. 9, FIG. 10, FIG. 11 and FIG. 12, theanchoring system 2 includes an anchor rod 2-1, an anchor rod storagedevice 2-2, an anchor rod drill device 2-3, a ground supportinghydraulic cylinder 2-4, a base 2-5, a rotating power device 2-6 and aconnecting column 2-7. The device is provided with six groups ofanchoring systems 2, and one group of the anchoring system 2 isdescribed below. The anchor rod storage device 2-2 is installed on atransmission shaft 2-6-2 in the rotating power device 2-6 in a mode ofinterference fit through a rod changing supporting seat 2-2-4 thereof.The anchor rod storage device 2-2 includes a storage rack rotating motor2-2-1, an anchor rod storage rack 2-2-2, a shaft 2-2-3 and the rodchanging supporting seat 2-2-4. The storage rack rotating motor 2-2-1 isinstalled at one end of the rod changing supporting seat 2-2-4. Theshaft 2-2-3 is installed on a bearing pedestal on the rod changingsupporting seat 2-2-4 and is connected with the storage rack rotatingmotor 2-2-1 through a coupler. The anchor rod storage rack 2-2-2 isinstalled on the shaft 2-2-3. The anchor rod storage rack 2-2-2 has thecharacteristics that the overall structure is pie-shaped, and the edgeis of a zigzag structure with certain elasticity for storing the anchorrod 2-1. The anchor rod drill device 2-3 is installed on the rodchanging supporting seat 2-2-4 in the anchor rod storage device 2-2through screws. The anchor rod drill device 2-3 includes an anchor roddrill guide rail 2-3-1, an anchor rod drill 2-3-2, a chain 2-3-3, apushing motor 2-3-4, an adjusting hydraulic cylinder 2-3-5 and a sliderail connecting plate 2-3-6. The anchor rod drill 2-3-2 is installed onthe anchor rod drill guide rail 2-3-1. The anchor rod drill guide rail2-3-1 is installed on the slide rail connecting plate 2-3-6 and can movealong a guide rail in the slide rail connecting plate 2-3-6. Therotating power device 2-6 includes a bearing 2-6-1, a transmission shaft2-6-2, a large gear 2-6-3, a pinion 2-6-4, a motor 2-6-5, a baffle plate2-6-6 and a platform box 2-6-7. The bearing 2-6-1 is installed at twosides of the platform box 2-6-7. The large gear 2-6-3 sleeves thetransmission shaft 2-6-2. The pinion 2-6-4 sleeves the shaft of themotor 2-6-5 and is meshed with the large gear 2-6-3. The groundsupporting hydraulic cylinder 2-4 is installed below the platform box2-6-7 through bolts and can improve the stability of the device duringthe anchoring operation. The connecting column 2-7 is installed abovethe platform box 2-6-7 through bolts.

Referring to FIG. 13, the ground supporting system 3 includes a groundsupporting hydraulic cylinder 3-1 and the ground self-adaptivesupporting base mechanism 3-2. The device is provided with six groups ofground supporting systems 3 which are symmetrically distributed, and theground supporting system 3 at one side is described below. The groundsupporting hydraulic cylinder 3-1 is installed below the main beam 1-3and the middle main beam 1-4 in the net supporting system 1. The groundself-adaptive supporting base mechanism 3-2 includes base hydrauliccylinders 3-2-1 and a base tray 3-2-2. One end of the base hydrauliccylinder 3-2-1 is connected with the ground supporting hydrauliccylinder 3-1 through a pin, the other end of the base hydraulic cylinder3-2-1 is connected with the base tray 3-2-2 through a pin, and the basehydraulic cylinder 3-2-1 has the characteristic that a telescopicdistance can be adjusted appropriately according to a topographicalchange to keep the balance of the whole device.

Referring to FIG. 14, FIG. 15 and FIG. 16, the power and turning system4 includes a pushing hydraulic cylinder 4-1, a turning hydrauliccylinder A 4-2, a turning hydraulic cylinder B 4-3, a pushing hydrauliccylinder big sleeve 4-4 and a pushing hydraulic cylinder small sleeve4-5. The device is provided with four groups of power and turningsystems 4, and one group of the power and turning system 4 is describedbelow. The pushing hydraulic cylinder 4-1 is installed inside thepushing hydraulic cylinder big sleeve 4-4 and the pushing hydrauliccylinder small sleeve 4-5. One end of the pushing hydraulic cylinder 4-1is connected with the pushing hydraulic cylinder small sleeve 4-5through a pin, and the other end of the pushing hydraulic cylinder 4-1is connected with the pushing hydraulic cylinder big sleeve 4-4 througha pin. One ends of the turning hydraulic cylinder A 4-2 and the turninghydraulic cylinder B 4-3 are connected with the pushing hydrauliccylinder big sleeve 4-4 through pins, and the other ends of the turninghydraulic cylinder A 4-2 and the turning hydraulic cylinder B 4-3 areconnected with the middle main beam 1-4 in the net supporting system 1through pins. The pushing hydraulic cylinder big sleeve 4-4 is connectedwith the middle main beam 1-4 in the net supporting system 1 through apin. The pushing hydraulic cylinder small sleeve 4-5 is connected withthe main beam 1-3 in the net supporting system 1 through a pin. Thepower and turning system 4 has the characteristics that the pushinghydraulic cylinder 4-1 extends and shrinks to realize movement, and theturning hydraulic cylinder A 4-2 and the turning hydraulic cylinder B4-3 extend and shrink synergistically to realize turning of the device.

A moving process of a stepping anchor supporting robot for a fullymechanized working face is characterized by including the followingsteps:

S1: the overall device is divided into three sections, namely a frontsection, a middle section and a rear section; the device is providedwith six groups of ground supporting systems 3 and four groups of powerand turning systems 4, and the ground supporting systems 3 and the powerand turning systems 4 are symmetrically distributed at two sides of thedevice; each group of the ground supporting systems 3 includes a groundsupporting hydraulic cylinder 3-1; each group of the power and turningsystems 4 includes a pushing hydraulic cylinder 4-1, a turning hydrauliccylinder A 4-2 and a turning hydraulic cylinder B 4-3; the movingprocesses of the systems at both sides are synchronized, and the movingprocess at one side is described;

S2: when the device is in an initial state, the six groups of groundsupporting systems 3 are supported on the ground; during operation, theground supporting hydraulic cylinder 3-1 on the front section of thedevice shrinks, the pushing hydraulic cylinder 4-1 on the front half ofthe device extends for a certain distance and then stops moving, and theground supporting hydraulic cylinder 3-1 on the front section of thedevice extends and is supported on the roadway ground; at this time, thefront section of the device is pushed forward for a certain distance;

S3: the ground supporting hydraulic cylinder 3-1 on the middle sectionof the device shrinks, the pushing hydraulic cylinder 4-1 on the fronthalf of the device shrinks, the pushing hydraulic cylinder 4-1 on therear half of the device extends, the front and rear pushing hydrauliccylinders 4-1 synchronously move for a certain distance and then stopmoving, and the ground supporting hydraulic cylinder 3-1 on the middlesection of the device extends and is supported on the roadway ground; atthis time, the middle section of the device is pushed forward for acertain distance; and

S4: the ground supporting hydraulic cylinder 3-1 on the rear section ofthe device shrinks, the pushing hydraulic cylinder 4-1 on the rear halfof the device shrinks for a certain distance and then stops moving, andthe ground supporting hydraulic cylinder 3-1 on the rear section of thedevice extends and is supported on the roadway ground; at this time, therear section of the device is pushed forward for a certain distance;thus, the whole device is moved forward for a certain distance, and theabove steps are repeated to enable the complete set of device tocontinuously move.

A turning process of a stepping anchor supporting robot for a fullymechanized working face is characterized by including the followingsteps:

S1: the ground supporting hydraulic cylinder 3-1 on the front section ofthe device shrinks, at this time, the pushing hydraulic cylinder 4-1 atthe right side of the front half of the device extends, the pushinghydraulic cylinder 4-1 at the left side shrinks, and the turning processof the front section of the device is realized under an adjusting effectof the turning hydraulic cylinder A 4-2 and the turning hydrauliccylinder B 4-3; and

S2: the ground supporting hydraulic cylinder 3-1 on the rear section ofthe device shrinks, at this time, the pushing hydraulic cylinder 4-1 atthe left side of the rear half of the device extends, the pushinghydraulic cylinder 4-1 at the right side shrinks, and the turningprocess of the rear section of the device is realized under theadjusting effect of the turning hydraulic cylinder A 4-2 and the turninghydraulic cylinder B 4-3; thus, one turning action of the overall deviceis completed, and the above steps are repeated to realize continuousturning of the whole device in the roadway with a large curvature.

An anchoring operation process of a stepping anchor supporting robot fora fully mechanized working face is characterized by including thefollowing steps:

S1: the ground supporting hydraulic cylinder 2-4 installed below aplatform box 2-6-7 extends and acts on a roadway floor;

S2: an anchor rod storage rack 2-2-2 is driven by a storage rackrotating motor 2-2-1 to rotate to a position suitable for manuallytaking an anchor rod 2-1, and then, the anchor rod 2-1 is manually takendown and installed on the anchor rod drill 2-3-2;

S3: an anchor net is manually paved on a net supporting baffle plate1-1-2-1 of the whole device, and the anchor net is driven by a middlenet supporting hydraulic cylinder 1-1-1-3 and a side net supportinghydraulic cylinder 1-1-2-3 in a net supporting system 1 to closelyadhere to a wall surface of the roadway; and

S4: after the position of an anchor rod drill device 2-3 is adjustedthrough a rotating power device 2-6 and an adjusting hydraulic cylinder2-3-5, the anchor rod drill device 2-3 passes through the anchor net todrill the wall surface of the roadway, and thereby completing theanchoring action.

Finally, it should be noted that the foregoing specific implementationsare merely intended for describing the technical solutions of thepresent invention but not for limiting the present invention. Althoughthe present invention is described in detail with reference to theexemplary embodiments, a person of ordinary skill in the art shouldunderstand that they may still make modifications or equivalentreplacements to the technical solutions described in the presentinvention without departing from the spirit and scope of the technicalsolutions of the embodiments of the present invention, which should allbe covered in the claims of the present invention.

What is claimed is:
 1. A stepping anchor supporting robot for a fullymechanized working face, comprising net supporting systems, anchoringsystems, ground supporting systems and power and turning systems,wherein the net supporting system is installed above the groundsupporting system; the anchoring system is installed below a main beamand a middle main beam in the net supporting system through screws; theground supporting system is installed below the main beam and the middlemain beam in the net supporting system; and two ends of the power andturning system are respectively connected with the main beam and themiddle main beam in the net supporting system in a mode of pinconnection.
 2. The stepping anchor supporting robot for a fullymechanized working face according to claim 1, wherein the net supportingsystem comprises a main net supporting system, an auxiliary netsupporting system, the main beam and the middle main beam; the main netsupporting system is installed above the main beam in the net supportingsystem; the auxiliary net supporting system is installed above themiddle main beam in the net supporting system; the main net supportingsystem comprises a middle net supporting mechanism and a side netsupporting mechanism, and the auxiliary net supporting system onlycomprises a middle net supporting mechanism; the middle net supportingmechanism comprises a middle bracket, a middle bracket connecting rod, aspring, a middle net supporting hydraulic cylinder and a net supportingbaffle plate; and the side net supporting mechanism comprises a sidebracket, a side net supporting hydraulic cylinder and a net supportingbaffle plate.
 3. The stepping anchor supporting robot for a fullymechanized working face according to claim 1, wherein the anchoringsystem comprises an anchor rod, an anchor rod storage device, an anchorrod drill device, a ground supporting hydraulic cylinder, a base, arotating power device and a connecting column; the anchor rod storagedevice is installed on a transmission shaft in the rotating power devicein a mode of interference fit through a rod changing supporting seatthereof; the anchor rod storage device comprises a storage rack rotatingmotor, an anchor rod storage rack, a shaft and the rod changingsupporting seat; the anchor rod drill device comprises an anchor roddrill guide rail, an anchor rod drill, a chain, a pushing motor, anadjusting hydraulic cylinder and a slide rail connecting plate; and therotating power device comprises a bearing, a transmission shaft, a largegear, a pinion, a motor, a baffle plate and a platform box.
 4. Thestepping anchor supporting robot for a fully mechanized working faceaccording to claim 1, wherein the ground supporting system comprises aground supporting hydraulic cylinder and a ground self-adaptivesupporting base mechanism; the ground supporting hydraulic cylinder isinstalled below the main beam and the middle main beam in the netsupporting system; the ground self-adaptive supporting base mechanismcomprises base hydraulic cylinders and a base tray; and one end of thebase hydraulic cylinder is connected with the ground supportinghydraulic cylinder through a pin, and the other end of the basehydraulic cylinder is connected with the base tray through a pin.
 5. Thestepping anchor supporting robot for a fully mechanized working faceaccording to claim 1, wherein the power and turning system comprises apushing hydraulic cylinder, a turning hydraulic cylinder A, a turninghydraulic cylinder B, a pushing hydraulic cylinder big sleeve and apushing hydraulic cylinder small sleeve; one end of the pushinghydraulic cylinder is connected with the pushing hydraulic cylindersmall sleeve through a pin, and the other end of the pushing hydrauliccylinder is connected with the pushing hydraulic cylinder big sleevethrough a pin; one ends of the turning hydraulic cylinder A and theturning hydraulic cylinder B are connected with the pushing hydrauliccylinder big sleeve through pins, and the other ends of the turninghydraulic cylinder A and the turning hydraulic cylinder B are connectedwith the middle main beam in the net supporting system through pins; thepushing hydraulic cylinder big sleeve is connected with the middle mainbeam in the net supporting system through a pin; and the pushinghydraulic cylinder small sleeve is connected with the main beam in thenet supporting system through a pin.
 6. A stepping anchor supportingrobot for a fully mechanized working face, wherein a moving process ischaracterized by comprising the following steps: S1: dividing the wholedevice into three sections, namely a front section, a middle section anda rear section; the device is provided with six groups of groundsupporting systems and four groups of power and turning systems, and theground supporting systems and the power and turning systems aresymmetrically distributed at two sides of the device; each group of theground supporting systems comprises a ground supporting hydrauliccylinder; each group of the power and turning systems comprises apushing hydraulic cylinder, a turning hydraulic cylinder A and a turninghydraulic cylinder B; the moving processes of the systems at both sidesare synchronized, and the moving process at one side is described; S2:when the device is in an initial state, the six groups of the groundsupporting systems are supported on the ground; during operation,enabling the ground supporting hydraulic cylinder on the front sectionof the device to shrink, the pushing hydraulic cylinder on the fronthalf of the device to extend for a certain distance and then stopmoving, and the ground supporting hydraulic cylinder on the frontsection of the device to extend and be supported on the roadway ground;at this time, the front section of the device is pushed forward for acertain distance; S3: enabling the ground supporting hydraulic cylinderon the middle section of the device to shrink, the pushing hydrauliccylinder on the front half of the device to shrink, the pushinghydraulic cylinder on the rear half of the device to extend, the frontand rear pushing hydraulic cylinders to synchronously move for a certaindistance and then stop moving, and the ground supporting hydrauliccylinder on the middle section of the device to extends and be supportedon the roadway ground; at this time, the middle section of the device ispushed forward for a certain distance; and S4: enabling the groundsupporting hydraulic cylinder on the rear section of the device toshrink, the pushing hydraulic cylinder on the rear half of the device toshrink for a certain distance and then stop moving, and the groundsupporting hydraulic cylinder on the rear section of the device toextend and be supported on the roadway ground; at this time, the rearsection of the device is pushed forward for a certain distance; thus,making the whole device move forward for a certain distance, andrepeating the above steps to enable the complete set of device tocontinuously move.
 7. A stepping anchor supporting robot for a fullymechanized working face, wherein a turning process is characterized bycomprising the following steps: S1: enabling the ground supportinghydraulic cylinder on the front section of the device to shrink, at thistime, enabling the pushing hydraulic cylinder at the right side of thefront half of the device to extend and the pushing hydraulic cylinder atthe left side to shrink, and realizing the turning process of the frontsection of the device under an adjusting effect of the turning hydrauliccylinder A and the turning hydraulic cylinder B; and S2: enabling theground supporting hydraulic cylinder on the rear section of the deviceto shrink, at this time, enabling the pushing hydraulic cylinder at theleft side of the rear half of the device to extend and the pushinghydraulic cylinder at the right side to shrink, and realizing theturning process of the rear section of the device under the adjustingeffect of the turning hydraulic cylinder A and the turning hydrauliccylinder B; thus, completing one turning action of the whole device, andrepeating the above steps to realize continuous turning of the wholedevice in the roadway with a large curvature.
 8. A stepping anchorsupporting robot for a fully mechanized working face, wherein ananchoring operation process is characterized by comprising the followingsteps: S1: enabling the ground supporting hydraulic cylinder installedbelow a platform box to extend and act on a roadway floor; S2: drivingan anchor rod storage rack by a storage rack rotating motor to rotate toa position suitable for manually taking an anchor rod, and then,manually taking down the anchor rod and installing the anchor rod on ananchor rod drill; S3: manually paving an anchor net on a net supportingbaffle plate of the whole device, and driving the anchor net to closelyadhere to a wall surface of the roadway by a middle net supportinghydraulic cylinder and a side net supporting hydraulic cylinder in a netsupporting system; and S4: after adjusting the position of an anchor roddrill device through a rotating power device and an adjusting hydrauliccylinder, enabling the anchor rod drill device to pass through theanchor net to drill the wall surface of the roadway, thereby completingthe anchoring action.